轻量化无人机实现野外实时路径重规划与抗冲击结构设计
Design and Structural Validation of a Micro-UAV with On-Board Dynamic Route Planning
- 用常见材料自研模块化无人机，兼顾强度与低成本
- 无需昂贵硬件即可实现实时感知与动态路径重规划
- 适合灾害救援场景，尤其适用于资源有限的应急团队
微型飞行器因其灵活性、速度和进入狭小或危险区域的能力，在搜救任务中日益重要。然而，设计轻量级飞行系统面临结构、气动和计算方面的重大挑战。本文针对重量低于2公斤的低成本飞行器存在的两大缺陷——在复杂地形中缺乏结构耐久性，以及发现新目标或障碍物后无法动态重规划路径——提出解决方案。我们从零开始构建一款全定制无人机，仅使用常见组件与材料，强调模块化、低成本与易组装性。机身采用轻质但坚固的材料加固以抵抗撞击，机载控制系统完全基于免费开源软件实现。所提系统可在不依赖昂贵硬件加速器的情况下实现实时感知与自适应导航，为真实搜救任务提供经济实用的解决方案。
原文摘要 · Abstract (English)
Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents significant structural, aerodynamic, and computational challenges. This work addresses two key limitations in many low-cost aerial systems under two kilograms: their lack of structural durability during flight through rough terrains and inability to replan paths dynamically when new victims or obstacles are detected. We present a fully customised drone built from scratch using only commonly available components and materials, emphasising modularity, low cost, and ease of assembly. The structural frame is reinforced with lightweight yet durable materials to withstand impact, while the onboard control system is powered entirely by free, open-source software solutions. The proposed system demonstrates real-time perception and adaptive navigation capabilities without relying on expensive hardware accelerators, offering an affordable and practical solution for real-world search and rescue missions.
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